Parallel Manipulator

Parallel manipulators, closed-chain robotic systems known for their accuracy and payload capacity, are the subject of ongoing research focused on improving their performance and expanding their applications. Current efforts concentrate on addressing issues like singularity avoidance through novel algorithms (e.g., those leveraging output twist screws or extrinsic metrics) and optimizing workspace design using dimensionally homogeneous Jacobians and constraint-embedded methods, particularly for manipulators with fewer than six degrees of freedom. These advancements are crucial for enhancing the reliability and efficiency of parallel manipulators in diverse fields, including rehabilitation robotics and industrial automation.